Differentiable Manifolds to Interactive Robot Control.

摘要

In Chapter 1 the thesis describes an extended treatment of the geometry behind rigid body motion. Here, rigid bodies and the kinematics of their relative motion are defined. In Chapter 2, kinematic pairs will be introduced as elements that can be used to describe power continuous interconnections between rigid bodies. An example of kinematic pairs are robotics joints. The difference between holonomic, non-holonomic and lower pairs will be introduced and explained. Chapter 3 will conclude the treatise on modeling of mechanical systems by reviewing and expanding concepts of analytical mechanics. Here, Hamiltonian equations of a general mechanism will be calculated from a graph interconnection description reformulating what has been done in (Maschke 1996) and expanding it with additional concepts. Chapter 4 reports the results of (Stramigioli, Fasse, and Willems 1997) in which a rigorous framework to describe interacting systems is reported. Chapter 5 introduces what we call Hamiltonian control and reports part of the results presented in (Stramigioli, Maschke, and ver der Schaft 1998). Here the control of a robot will be introduced as the power continuous interconnection of a robot with an intrinsically passive controller. In Chapter 6 a less trivial application of the techniques developed in Chapter 5 will be presented. Chapter 6 will treat the development of a novel grasping control strategy which can be used for various kinds of grasping tasks. Chapter 7 will introduce some software architectural issues which have been reported, and eventually, Chapter 8 will present two applications based on the developed concepts.